Multi-robot Semantic Mapping

How would a robot understand its environment and make sense of semantics in the environment to better collaborate with a human world? How can multiple robots use the knowledge of these abstractions to communicate with each other and achieve a mission with minimal cost? These are a few of the questions that inspire the MSM team. This a cross-discipline group where we do full-stack robot research on topics ranging from perception to behavior learning all the way to multi-robot coordination.

Ongoing Research themes:

  • Context-based semantic mapping
  • Target-driven visual navigation
  • Multi-robot exploration and planning
  • Optimal path planning in ocean environments

Team Members:

  • Vikas Dhiman
  • Anwesan Pal
  • Yiding (Cassie) Qiu
  • Akanimoh Adeleye
  • Michelle Sit

Selected Publications:

  • Anwesan Pal, Sayan Mondal, Henrik I Christensen: Looking at the right stuff: Guided semantic-gaze for autonomous driving. In: Proc. of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE/CVF Seattle, USA, 2020.
  • Anwesan Pal, Carlos Nieto, Henrik I Christensen: DEDUCE: Diverse scEne Detection methods in Unseen Challenging Environments. In: International Conference on Intelligent Robots and Systems, IEEE/RSJ Macau, 2019.
  • Shixin Li, Henrik I Christensen: WaveToFly: WaveToFly: Control a UAV using Body Gestures. In: Intl. Conf. Robotics and Automation, IEEE Montreal, 2019.
  • Nicholas Fung, John G Rogers III, Carlos Nieto-Granda, Henrik Iskov Christensen, Stephanie Kemna, Gaurav Sukhatme: Coordinating multi-robot systems through environment partitioning for adaptive informative sampling. In: Intl. Conf. Robotics and Automation, IEEE Montreal, 2019.
  • Carlos Nieto, John Rogers, Nicholas Fung, Stephanie Kemna, Henrik I Christensen, Gaurav Sukhatme: On-line Coordination ┼Žask for Multi-robot Systemsusing Adaptive Informative Sampling. In: Intl. Symp. Exp. Robotics, IFRR Springer, Buenos Aires, 2018.